Closed-loop identification and tracking control of Lagrangian systems under input constraints
Résumé
In this paper global tracking and parameter convergence are proven for an adaptive control algorithm with independently saturated proportional and derivative terms through a persistency of excitation condition, while guaranteeing the inputs to never reach their natural saturation limit. As far as the authors are aware this is the first work that achieves globally the motion control objective and system identification, avoiding actuator saturation.
Domaines
Automatique
Origine : Fichiers produits par l'(les) auteur(s)
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